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Conference on intelligent robots and computer vision xxix - algorithms and techniques

作者： Fox, Stephen D. Lyons, Damian M. Fordham Univ Robot & Comp Vis Lab Bronx NY 10458 USA

ISBN: (纸本)9780819489487

A mobile robot equipped with a stereo camera can measure both the video image of a scene and the visual disparity in the scene. The disparity image can be used to generate a collection of points, each representing the location of a surface in the visual scene as a 3D point with respect to the location of the stereo camera: a point cloud. If the stereo camera is moving, e. g., mounted on a moving robot, aligning these scans becomes a difficult, and computationally expensive problem. Many finely tuned versions of the iterative closest point algorithm (ICP) have been used throughout robotics for registration of these sets of scans. However, ICP relies on theoretical convergence to the nearest local minimum of the dynamical system: there is no guarantee that ICP will accurately align the scans. In order to address two problems with ICP, convergence time and accuracy of convergence, we have developed an improvement by using salient keypoints from successive video images to calculate an affine transformation estimate of the camera location. This transformation, when applied to the target point cloud, provides ICP an initial guess to reduce the computational time required for point cloud registration and improve the quality of registration. We report ICP convergence times with and without image information for a set of stereo data point clouds to demonstrate the effectiveness of the approach.

关键词： registration point cloud alignment scan-matching iterative closest point mobile robot stereo vision computer vision homography egomotion

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Integrated Field Testing of Planetary Robotics vision processing - the PRoVisG Campaign in Tenerife 2011

Integrated Field Testing of Planetary Robotics vision proces...

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Conference on intelligent robots and computer vision xxix - algorithms and techniques

作者： Paar, G. Waugh, L. Barnes, D. P. Pajdla, T. Woods, M. Graf, H. -R. Gao, Y. Willner, K. Muller, J. -P. Li, R. JOANNEUM RES Steyrergasse 17 A-8010 Graz Austria EADS Astrium Stevenage Herts England Aberystwyth Univ Aberystwyth SY23 3DB Dyfed Wales Czech Tech Univ Ctr Machine Percept Prague Czech Republic SciSys Bristol Avon BS4 5SS England CSEM Zurich Ctr CH-8005 Zurich Switzerland Surrey Space Ctr Guildford Surrey England Technical Unive Berlin Berlin Germany Univ Coll London MSSL London RH5 6NT ON Canada Ohio State Univ Columbus MS USA

ISBN: (纸本)9780819489487

In order to maximize the use of a robotic probe during its limited lifetime, scientists immediately have to be provided the best achievable visual quality of 3D data products. The EU FP7-SPACE Project PRoVisG (2008-2012) develops technology for the rapid processing and effective representation of visual data by improving ground processing facilities. In September 2011 PRoVisG held a Field Trials campaign in the Caldera of Tenerife to verify the implemented 3D vision processing mechanisms and to collect various sets of reference data in representative environment. The campaign was strongly supported by the Astrium UK Rover Bridget as a representative platform which allows simultaneous on-board mounting and powering of various vision sensors such as the Aberystwyth ExoMars PanCam Emulator (AUPE). The paper covers the preparation work for such a campaign and highlights the experiments that include standard operations-and science-related components but also data capture to verify specific processing functions. We give an overview of the captured data and the compiled and envisaged processing results, as well as a summary of the test sites, logistics and test assets utilized during the campaign.

关键词： Planetary rover planetary mapping robotic vision surface operations Mars exploration field-analogue testing planetary science

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Indoor Mobile Robotics at Grima, PUC

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JOURNAL OF intelligent & ROBOTIC SYSTEMS 2012年第1-2期66卷 151-165页

作者： Caro, Luis Correa, Javier Espinace, Pablo Langdon, Daniel Maturana, Daniel Mitnik, Ruben Montabone, Sebastian Pszczolkowski, Stefan Araneda, Anita Mery, Domingo Torres, Miguel Soto, Alvaro Pontificia Univ Catolica Chile PUC Dept Comp Sci Sch Engn Santiago Chile Univ Catolica Temuco Sch Informat Temuco Chile Pontificia Univ Catolica Chile PUC Dept Stat Fac Math Santiago Chile

This paper describes the main activities and achievements of our research group on Machine Intelligence and Robotics (Grima) at the computer Science Department, Pontificia Universidad Catolica de Chile (PUC). Since 2002, we have been developing an active research in the area of indoor autonomous social robots. Our main focus has been the cognitive side of Robotics, where we have developed algorithms for autonomous navigation using wheeled robots, scene recognition using vision and 3D range sensors, and social behaviors using Markov Decision Processes, among others. As a distinguishing feature, in our research we have followed a probabilistic approach, deeply rooted in machine learning and Bayesian statistical techniques. Among our main achievements are an increasing list of publications in main Robotics conference and journals, and the consolidation of a research group with more than 25 people among full-time professors, visiting researchers, and graduate students.

关键词： Mobile robots Autonomous navigation Social robots Scene understanding

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Navigating a Path Delineated by Colored Flags: An Approach for a 2011 IGVC Requirement

Navigating a Path Delineated by Colored Flags: An Approach f...

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Conference on intelligent robots and computer vision xxix - algorithms and techniques

作者： Szmatula, Alex Parrish, Matt Krishnan, Mohan Paulik, Mark Mohammad, Utayba Luo, Chaomin Univ Detroit Mercy ECE Dept Detroit MI 48221 USA

ISBN: (纸本)9780819489487

In this work, we address a situation presented as a new requirement for the Autonomous Challenge portion of the 2011 intelligent Ground Vehicle Competition (IGVC). This new requirement is to navigate between red and green colored flags placed within the normal white painted lane lines. The regular vision algorithms had to be enhanced to reliably identify and localize the colored flags, while the Navigation algorithms had to be modified to satisfy the constraints placed on the robot while transiting through the flag region. The challenge in finding a solution was the size of the flags, the possibility of loosing them against the background, as well as their movement in the wind. The attendant possibility of false positives and negatives also needed to be addressed to increase reliability of detection. Preliminary tests on the robot have produced positive results.

关键词： Autonomous robots Color Image Processing VFH Navigation Lane Following IGVC

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A layered learning approach to 3D multimodal people detection using low-cost sensors in a mobile robot

A layered learning approach to 3D multimodal people detectio...

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3rd International Symposium on Ambient Intelligence, ISAmI 2012

作者： Susperregi, Loreto Sierra, Basilio Martínez-Otzeta, Jose María Lazkano, Elena Ansuategui, Ander TEKNIKER-IK4 Badajoz Spain University of Basque Country San Sebastian Spain

ISBN: (纸本)9783642287824

In this paper we propose a novel approach for low cost multimodal detection of humans with mobile service robots. Detecting people is a key capability for robots that operate in populated environments. The main objective of this article is to illustrate the implementation of machine learning paradigms with computer vision techniques to improve human detection using 3D vision and a thermal sensor. Experimental results carried out in a manufacturing shop-floor show that the percentage of wrong classified using only Kinect is drastically reduced with the classification algorithms and with the combination of the three information sources. © 2012 Springer-Verlag.

关键词： computer vision

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PRoViScout - a Planetary Scouting Rover Demonstrator

PRoViScout - a Planetary Scouting Rover Demonstrator

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Conference on intelligent robots and computer vision xxix - algorithms and techniques

作者： Paar, Gerhard Woods, Mark Gimkiewicz, Christiane Labrosse, Frederic Medina, Alberto Tyler, Laurence Barnes, David P. Fritz, Gerald Kapellos, Konstantinos JOANNEUM RES Steyrergasse 17 A-8010 Graz Austria SciSys Bristol Avon BS4 5SS England CSEM Zurich Ctr CH-8005 Zurich Switzerland Aberystwyth Univ Aberystwyth Dyfed Wales GMVc Isaac Newton Tres Cantos 28760 Spain TRASYS Space B-1560 Hoeilaart Belgium

ISBN: (纸本)9780819489487

Mobile systems exploring Planetary surfaces in future will require more autonomy than today. The EU FP7-SPACE Project ProViScout (2010-2012) establishes the building blocks of such autonomous exploration systems in terms of robotics vision by a decision-based combination of navigation and scientific target selection, and integrates them into a framework ready for and exposed to field demonstration. The PRoViScout on-board system consists of mission management components such as an Executive, a Mars Mission On-Board Planner and Scheduler, a Science Assessment Module, and Navigation & vision Processing modules. The platform hardware consists of the rover with the sensors and pointing devices. We report on the major building blocks and their functions & interfaces, emphasizing on the computer vision parts such as image acquisition (using a novel zoomed 3D-Time-of-Flight & RGB camera), mapping from 3D-TOF data, panoramic image & stereo reconstruction, hazard and slope maps, visual odometry and the recognition of potential scientifically interesting targets.

关键词： Planetary rover autonomous navigation robotic vision planning 3D-TOF Mars exploration decision making planetary science science interest

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A General Model and Calibration Method for Spherical Stereoscopic vision

A General Model and Calibration Method for Spherical Stereos...

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Conference on intelligent robots and computer vision xxix - algorithms and techniques

作者： Feng, Weijia Roning, Juha Kannala, Juho Zong, Xiaoning Zhang, Baofeng Tianjin Univ State Key Lab Precis Measuring Technol & Instrume Tianjin 300072 Peoples R China Oulu Univ Infotech Oulu Oulu Finland Oulu Univ Elect & Informat Engn Dept Oulu Finland

ISBN: (纸本)9780819489487

In geometric calibration of stereoscopic cameras the object is to determine a set of parameters which describe the mapping from 3D reference coordinates to 2D image coordinates, and indicate the geometric relationships between the cameras. While various methods for stereo cameras with ordinary lenses can be found from the literature, stereoscopic vision with extremely wide angle lenses has been much less discussed. Spherical stereoscopic vision is more and more convenient in computer vision applications. However, its use for 3D measurement purposes is limited by the lack of an accurate, general, and easy-to-use calibration procedure. Hence, we present a geometric model for spherical stereoscopic vision equipped by extremely wide angle lenses. Then, a corresponding generic mathematical model is built. Method for calibration the parameters of the mathematical model is proposed. This paper shows practical results from the calibration of two high quality panomorph lenses mounted on cameras with 2048x1536 resolutions. Here, the stereoscopic vision system is flexible, the position and orientation of the cameras can be adjusted randomly. The calibration results include interior orientation, exterior orientation and the geometric relationships between the two cameras. The achieved level of calibration accuracy is very satisfying.

关键词： spherical stereoscopic vision panomorph lens general geometric and mathematical model parameter calibration

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Proceedings of SPIE-IS and T Electronic Imaging - intelligent robots and computer vision XXVII: algorithms and techniques

Proceedings of SPIE-IS and T Electronic Imaging - Intelligen...

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intelligent robots and computer vision XXVII: algorithms and techniques

ISBN: (纸本)9780819479327

The proceedings contain 32 papers. The topics discussed include: engineering robust intelligent robots;different micromanipulation applications based on common modular control architecture;recognizing and tracking humans and vehicles using radar;object tracking by co-trained classifiers and particle filters;teaching and implementing autonomous robotic lab walkthroughs in a biotech laboratory through model-based visual tracking;LandingNav: a precision autonomous landing sensor for robotic platforms on planetary bodies;real-time 3D environment model for obstacle detection and collision avoidance with a mobile service robot;handling of split-and-merge effects and occlusions using feature-based probabilistic data association;robust obstacles detection and tracking using disparity for car driving assistance;and modeling of radial asymmetry in lens distortion facilitated by modern optimization techniques.

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Guest editorial emerging circuits and systems techniques for ultra-low power body sensor networks

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IEEE Journal on Emerging and Selected Topics in Circuits and Systems 2012年第1期2卷 1-3页

作者： Calhoun, Benton Chandrakasan, Anantha P. Otis, Brian Verma, Naveen Yoo, Hoi-Jun Department of Electrical and Computer Engineering University of Virginia Charlottesville VA 22904 United States Department of Electrical Engineering and Computer Science Massachusetts Institute of Technology Cambridge MA 02139 United States Department of Electrical Engineering University of Washington Seattle WA 98195 United States Department of Electrical Engineering Princeton University Princeton NJ 08540 United States Department of Electrical Engineering Korea Advanced Institute of Science and Technology Daejeon 08540 Korea Republic of

This special issue brings together 11 papers on approaches spanning circuits, architectures, algorithms, and system design that demonstrates promising solutions to emerging critical problems in body sensor networks.

关键词： Special issues and sections Low-power electronics Body sensor networks

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Intuitive control of robotic manipulators

Intuitive control of robotic manipulators

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Conference on intelligent robots and computer vision XXVIII: algorithms and techniques

作者： Rusbarsky, David Gray, Jeremy Peters, Douglas RE2 Inc 4925 Harrison St Pittsburgh PA 15201 USA US Army TARDEC Warren MI 48397 USA

ISBN: (纸本)9780819484154

As part of the Modular intelligent Manipulation system with Intuitive Control program, industry is working with the U. S. Army to explore technologies that will allow a user to intuitively control multiple degree of freedom robotic arms and maintain better awareness of the operating environment through haptic feedback. In addition to reporting resistance, haptic feedback can help make operators feel like they are actually there with the robot, opening doors, unscrewing blast caps, cutting wires, or removing batteries. Coupled with intuitive controls and advanced video feedback, the goal of this project is to provide users with the sensation that the robot is an extension of their body, all from a safe distance.

关键词： Robotic Manipulation Haptic Feedback Human System Integration computer vision GUI

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